Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Development v2.2 - Zero Velocity Update #79

Merged
merged 7 commits into from
Jul 8, 2020
Merged

Development v2.2 - Zero Velocity Update #79

merged 7 commits into from
Jul 8, 2020

Conversation

rpng-guest
Copy link
Contributor

Key Changes

  • Zero velocity update logic detection and update based on chi2 with the current IMU readings
  • Standstill initialization if zero velocity update is enabled (great for if you need a pose estimate as soon as possible)
  • Support for using stereo on the KAIST Urban Dataset
  • Some matlab utilities for converting from their groundtruth format
  • Some additional collected datasets of driving with the sensor mounted on a car

Example KAIST Trajectories

Black is dataset's groundtruth, blue is OpenVINS with zero velocity update enabled.
The launch file used can be found in ov_msckf/launch/pgeneva_ros_kaist.launch.

Urban28:
-> 11,212 meters in length
-> 2.55 degrees orientation RMSE
-> 19.03 meters position RMSE (0.16% traj error)
urban28

Urban39:
-> 10,678 meters in length
-> 1.47 degrees orientation RMSE
-> 12.36 meters position RMSE (0.12% traj error)
urban39

Should fix issue #56, #57, #67, #77

Sign up for free to join this conversation on GitHub. Already have an account? Sign in to comment
Labels
None yet
Projects
None yet
Development

Successfully merging this pull request may close these issues.

2 participants